/PROG  XW_0000
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "3035";
PROG_SIZE	= 2009;
CREATE		= DATE 21-11-03  TIME 10:57:58;
MODIFIED	= DATE 21-11-03  TIME 10:58:48;
FILE_NAME	= XW_0001;
VERSION		= 0;
LINE_COUNT	= 71;
MEMORY_SIZE	= 2509;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: RL1 ;
   6:  !  PROGRAM: PNS0051 ;
   7:  !  PART:53301125 ;
   8:  !ZYL15-7-16********************** ;
   9:   ;
  10:  !INITIALIZE ;
  11:  MOVE TO HOME    ;
  12:  DO[38]=OFF ;
  13:  R[14]=90    ;
  14:  R[18]=1    ;
  15:  R[19]=.1    ;
  16:  R[35]=TIMER[4]    ;
  17:  !------------------------------- ;
  18:  !BEGINNING OF PROGRAM ;
  19:  CALL PARTDROP    ;
  20:  COL GUARD ADJUST R[14] ;
  21:  UTOOL_NUM=1 ;
  22:  UFRAME_NUM=0 ;
  23:  PAYLOAD[1] ;
  24:  CALL ARM_CHECK    ;
  25:  !INITIATE TO PICK-POUNCE ;
  26:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  27:J P[2:PICK POUNCE] 50% CNT100 ACC100 BREAK    ;
  28:  R[1]=0    ;
  29:  TIMER[1]=RESET ;
  30:   ;
  31:  LBL[10:TOP OF LOOF] ;
  32:  OVERRIDE=30% ;
  33:  !PROCEED TO PICK ;
  34:  LBL[20] ;
  35:  IF DI[1]=ON AND DI[2]=ON,JMP LBL[30] ;
  36:  IF DI[29]=ON,JMP LBL[90] ;
  37:  JMP LBL[20] ;
  38:  LBL[30:GOTO DROP POUNCE] ;
  39:   ;
  40:  OVERRIDE=30% ;
  41:  PR[30,1]=PR[11,1]    ;
  42:  PR[30,2]=PR[11,2]    ;
  43:  PR[30,3]=(-850)    ;
  44:  PR[30,4]=PR[11,4]    ;
  45:  PR[30,5]=PR[11,5]    ;
  46:  PR[30,6]=PR[11,6]    ;
  47:   ;
  48:  PR[31]=PR[30]-PR[32]    ;
  49:  SKIP CONDITION DI[9]=ON OR DI[42]=ON+    ;
  50:  CALL PARTPICK    ;
  51:   ;
  52:J PR[30] 100% CNT30    ;
  53:L PR[31] 100mm/sec CNT100 Skip,LBL[21],PR[31]=LPOS    ;
  54:   ;
  55:  JMP LBL[90] ;
  56:   ;
  57:  LBL[21] ;
  58:  PR[50]=PR[31]    ;
  59:  PAUSE ;
  60:   ;
  61:  R[45]=PR[50,3]    ;
  62:  IF R[45]<=(-1900) OR DI[29]=ON,JMP LBL[90] ;
  63:L PR[50] 500mm/sec CNT5 DB  500.0mm,CALL PARTPICK    ;
  64:  DO[37]=PULSE,3.0sec ;
  65:  LBL[90:END OF CYCLE] ;
  66:  TIMER[1]=STOP ;
  67:L PR[30] 500mm/sec CNT100 DB  300.0mm,CALL PARTDROP    ;
  68:J P[4:DROP POUNCE] 30% CNT100    ;
  69:J P[2:PICK POUNCE] 30% CNT100    ;
  70:  MOVE TO HOME    ;
  71:  LBL[100:END OF PROGRAM] ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2659.957  mm,	Y =  -743.334  mm,	Z =  -927.922  mm,
	W =  -179.311 deg,	P =      .574 deg,	R =   -89.997 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2657.790  mm,	Y =  -744.000  mm,	Z =  -901.350  mm,
	W =  -179.311 deg,	P =      .573 deg,	R =   -90.000 deg
};
P[4:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2487.000  mm,	Y = -1405.211  mm,	Z =  -830.000  mm,
	W =  -179.305 deg,	P =      .575 deg,	R =   -89.997 deg
};
/END
